Electric discharge machining

Abstract: A method of determining electric discharge machining conditions comprises the steps of establishing multiple sets of predefined machining parameters, establishing for each set of predefined machining parameters a set of basic machining data indicating relationships present during electric discharge machining among electric discharge machining current, machining depth and minimum electrode side surface undersize, selecting at least two sets of basic machining data from among the multiple sets thereof in accordance with a given set of predefined machining parameters, and inferring and generating machining condition data representing a series of pairs of machining depth values and corresponding electric discharge machining current values required for machining the workpiece to a prescribed configuration and dimensions, the electric discharge machining current values in the series progressively changing with increasing machining depth value from a value larger than the electric discharge machining current value of the selected set of basic machining data to a value smaller than the electric discharge machining current value of the selected set of basic machining data.

Description: This invention relates to a method of determining the optimum electric discharge machining conditions for a machining electrode and a workpiece based on predefined machining parameters, and an electric discharge machining controller. Since the electrode used in electric discharge machining machines an area larger than itself (machining overcut), the machining is conducted using an undersized electrode fabricated to a smaller size than that of the machining dimensions required by the workpiece. As electric discharge machining is more time consuming than other machining methods, moreover, it is generally divided into a number of stages between roughing and finishing so as to increase the machining efficiency. In the first stage, machining is conducted under rough conditions for approximately obtaining the desired machined configuration. This is known as roughing. In the next stage or stages, called semifinishing, the machining current is reduced and relative movement is applied between the electrode and the workpiece. Finally, finishing is conducted to obtain the required machining dimensions and degree of machined surface roughness. In determining the roughing conditions in the initial roughing stage, the operator adopts the maximum machining electric current allowable in light of the electrode undersize, machining depth and machining area, and then also decides, with reference to a data book or the like, the machining depth and the stock to be left for finishing and required for obtaining the final desired surface roughness. Among the machining conditions that come into play during roughing, the machining current has the strongest influence on the electric discharge machining overcut and the finishing allowance left for subsequent finishing. The roughing conditions are therefore greatly affected by the amount of electrode undersize. This is because the maximum current usable in roughing is determined almost entirely by the electrode undersize. Therefore, after calculating the maximum permissible machining current from the machining area, the operator checks whether the electrode undersize is sufficiently greater than the machining overcut that can be expected at the calculated machining current value. If it is, he conducts the roughing using machining conditions based on the calculated value. If it is smaller than the expected machining overcut, he refers to a data book and selects machining conditions for obtaining a machining overcut that is smaller than the amount of electrode undersize. The general practice in this case is to set the machining current on the low side in consideration of the maximum electric discharge machining overcut including the machining produced by secondary discharges through the chips (called machining deformation). This setting of the rough machining current at a relatively low level in light of the anticipated machining overcut and the machining deformation lengthens the time required for completing the roughing. Although it is theoretically possible to conduct the machining at maximum machining current by using a sufficiently undersized electrode, this method cannot be applied when there are restrictions on the machining configuration or when the electrode has already been fabricated. In such cases there is no alternative but to determine the machining current with reference to the electrode undersize. An object of the invention is therefore to provide a method of determining electric discharge machining conditions which minimize roughing time by reducing the maximum machining current in accordance with the machining depth so as to prevent the maximum machining overcut from increasing in the course of the machining to the point where it exceeds the electrode undersize and so as to ensure that the electrode undersize and the maximum machining overcut coincide at the completion of the roughing. Another object of the invention is to provide a discharge machining controller for conducting this method. According to the present invention there is provided a method of determining electric discharge machining conditions in a machining gap formed between an electrode and a workpiece on the basis of a set of predefined machining parameters including machining depth and electrode undersize, characterized by: setting a set of predefined machining parameters including machining depth and electrode undersize; storing a data file including multiple sets of basic machining data indicative of relationships among electric discharge machining current value, machining depth and electrode undersize; selecting at least two sets of basic machining data from among the multiple sets thereof, said at least two sets of basic machining data including data corresponding to or adjacent to the set values of machining depth and electrode undersize; inferring an electric discharge machining current value on the basis of said at least two sets of basic machining data; and setting electric discharge machining current to the inferred value, the set electric discharge machining current value being the maximum permissible to be supplied to the machining gap when machining with an electrode having the set electrode undersize at the set machining depth. According to the present invention in a second aspect there is provided an electric discharge machining controller for controlling electric discharge machining conditions in a machining gap formed between an electrode and a workpiece on the basis of a set of predefined machining parameters including machining depth and electrode undersize, characterized by: means for setting a set of predefined machining parameters including machining depth and electrode undersize; means for storing a data file including multiple sets of basic machining data indicative of relationships among electric discharge machining current value, machining depth and electrode undersize; selecting means for selecting at least two sets of basic machining data from among the multiple sets thereof, said at least two sets of basic machining data including data corresponding to or to adjacent to the set values of machining depth and electrode undersize; and inferring means for inferring electric discharge machining current value on the basis of said at least two sets of basic machining data. In the method according to the invention, the electric discharge machining, particularly the roughing, is conducted to a prescribed depth using machining conditions which prevent the machining overcut from exceeding the electrode undersize. Specifically, while the machining depth is small, the machining current is set to a large value within the range that does not cause the electric discharge machining overcut to exceed the amount of electrode undersize. Then, as the machining depth increases, the machining current is gradually reduced. Finally, when the machining depth prescribed by the roughing conditions has been reached, the electric discharge machining conditions are set to those for completing the machining in line with the prescribed specifications. As a result, the time required for the machining is reduced. For conducting this method, the machining area, machining current, electrode undersize, relationship between the machining depth and the maximum machining overcut (including the machining deformation produced by secondary discharge) and other such basic data are stored in memory, pertinent data in light of machining area are retrieved, a learning operation is conducted by a neural network or the like, and a series of electric discharge machining conditions are generated by inference. With this method, the machining conditions which enable the machining current to be applied at the maximum permissible value so as to increase machining efficiency during roughing can be easily determined and set. These and other objects and features of the invention will be more apparent from the following description made with reference to the drawings, in which Figure 1 is a block diagram showing the configuration of an embodiment of the controller according to this invention. Figures 2A to 2F are consecutive portions of a flow chart showing the flow of operations in the controller of Figure 1. Figures 3 and 4 show tables setting out examples of basic data stored in a basic data memory of the controller of Figure 1. Figure 5 is a diagram for explaining the learning conducted in a machining conditions inference section of the controller of Figure 1 to obtain a neural network for inferring the electric discharge machining current value. Figure 6 is a diagram for explaining the inference conducted in a machining conditions inference section of the controller of Figure 1 to infer the electric discharge machining current value by the use of the neural network obtained by the learning explained with reference to Figure 5. Figure 7 is a diagram for explaining the learning conducted in a machining conditions inference section of the controller of Figure 1 to obtain a neural network for inferring the minimum side surface undersize. Figure 8 is a diagram for explaining the inference conducted in a machining conditions inference section of the controller of Figure 1 to infer the minimum side surface undersize by the use of the neural network obtained by the learning explained with reference to Figure 7. Figure 9 is a diagram for explaining the learning conducted in a machining conditions inference section of the controller of Figure 1 to obtain a neural network for inferring machining depth. Figure 10 is a diagram for explaining the inference conducted in a machining conditions inference section of the controller of Figure 1 to infer the machining depth by the use of the neural network obtained by the learning explained with reference to Figure 9. An embodiment of the invention will now be explained with reference to the drawings. The configuration of an embodiment of the electric discharge machining controller according to the invention is shown in Figure 1. The electric discharge machining controller, denoted by reference numeral 1 in Figure 1, controls electric discharge machining conditions for machining a workpiece. In this embodiment, it determines optimum electric discharge machining conditions for conducting the roughing in a short period of time and controls the electric discharge machining in accordance with the determined electric discharge machining conditions. In Figure 1, reference numeral 10 indicates an input section such as a keyboard for inputting predefined machining parameter data ID corresponding to the predefined machining parameters required for determining the electric discharge machining conditions. The predefined machining parameters include the electrode material, workpiece material, machining area, machining depth, electrode gradient, and electrode undersize. The electric discharge machining controller 1 further includes a roughing conditions inference section 20 as its main section. The roughing conditions inference system section 20 is constituted by use of a microcomputer system. The roughing conditions inference section 20 includes a roughing conditions learning and inference control section 21 which controls the processing for the inference and generation of roughing conditions, a basic data memory 23 in which multiple sets of basic machining condition data are stored in advance, and a vicinal data access section 22 for accessing the basic data memory 23 for obtaining the data most closely related to the predefined machining parameter data ID stored in the basic data memory 23. The basic data memory 23 stores multiple sets of basic machining condition data in multiple files of a prescribed format. Specifically, the basic data memory 23 stores sets of basic data like those shown in Figures 3 and 4. These are, however, only examples of the basic data files stored in the basic data memory 23, which actually stores numerous files containing typical basic data categorized according to the combination of electrode material and workpiece material (e.g., graphite electrode and ferrous workpiece, copper electrode and ferrous workpiece, etc.) and, within each such combination of materials, according to the size of the machining area. Figures 3 and 4 show examples of two basic files storing basic data for using a copper electrode to machine a ferrous workpiece over machining areas of 50 mm 2 and 100 mm 2 . Although only the typical basic data stored in the basic files are discontinuous, the electric discharge machining controller 1 is able to generate optimum electric discharge machining conditions based on the typical basic data. This feature of the invention makes it unnecessary to collect and store a large volume of basic data. In the figures, IP indicates a machining current represented in units of 1.5 A. (A value of 5 indicates a machining current of 7.5 A, for example.) With an appropriately designed power supply, however, it may be possible to achieve higher efficiency by varying the machining current in smaller steps, such as in increments of 0.5 A, for example. The side surface remainder refers to the thickness (in µm) of the stock required to be left for final finishing (1 µ Rmax) when rough machining is conducted at the corresponding IP value. Figure 3 and indicate the side surface remainder required at each IP value when finishing is conducted to a final finish of 1 µ Rmax. If the required surface roughness of the final finishing is greater than 1 µ Rmax (e.g. 5 µ Rmax), however, the side surface remainder can be corrected by the difference between the amounts required at 5 µ Rmax and 1 µ Rmax. The side surface remainder is similar to the remainder at the bottom surface, except that it is the stock allowance required to be left for finishing in the lateral direction rather than in the vertical direction. The minimum side surface undersize values indicate the electrode undersize required for conducting the machining at the corresponding IP values and machining depth. They are determined taking into account the fact that the maximum electric discharge machining overcut at a given IP value increases with machining depth because the machining deformation caused by secondary discharges increases with increasing machining depth. Figures 3 and 4 show the relationship between depth and minimum side surface undersize. In other words, each minimum side surface undersize value indicates the electrode undersize in terms of the minimum side surface undersize required at a minimum when finish machining is to be conducted to a prescribed surface roughness after roughing has been conducted to a given depth at a given IP value. The establishment of the minimum side surface undersize is necessary because when machining is conducted at a given IP value the secondary discharge produces machining deformation into the stock beyond the prescribed overcut (the total of the overcut and the machining deformation being referred to here as the maximum overcut). The minimum side surface undersize is thus the sum of the maximum overcut and the overcut in electric discharge machining under the finish machining conditions. As a result, the minimum side surface undersize is equal to the sum of the relative movement between the electrode and the workpiece and the electric discharge oversize in the final finishing step for finishing the machined surface using the same electrode. The roughing conditions inference section 20 further includes a numerical correction section 24 which receives the electrode undersize and the electrode gradient through the roughing conditions learning and inference control section 21 and corrects the electrode undersize in accordance with the electrode gradient, a temporary memory 26 for temporarily storing the vicinal data accessed by the vicinal data access section 22 for use in learning and inference, and a machining conditions inference section 25 operating under the control of the roughing conditions learning and inference control section 21 for conducting learning and inference operations based on the vicinal data stored in the temporary memory 26 to thereby generate a series of data indicating the relationship between the roughing conditions and the machining feed depth. The series of data is stored in the temporary memory 26. The vicinal data access section 22 receives the predefined machining data, including the data representing the electrode material, workpiece material, machining area and machining depth forwarded through the roughing conditions learning and inference control section 21, and the electrode undersize data further forwarded through the numerical correction section 24. The vicinal data received by the vicinal data access section 22 from the basic data memory 23 comprise at least two sets of basic machining condition data closely related to the input predefined machining parameter data, and each set of basic machining condition data includes data relating to the machining area, minimum electrode undersize, machining depth, maximum machining current and the like. Data SBD consisting of these accessed data and the input data are transferred to the temporary memory 26. At least two sets of basic data accessed by the vicinal data access section 22 are used for the learning operation in the machining conditions inference section 25 to form the necessary neural network. If a tapered electrode having a gradient is used, the electrode undersize data are not used as input but are corrected by the numerical correction section 24 to those for machining with a straight electrode. As input values the numerical correction section 24 receives the electrode undersize X and the electrode gradient . If the electrode does not have a gradient, the electrode undersize X is forwarded to the vicinal data access section 22 without modification. If it does, it is forwarded to the vicinal data access section 22 after being converted to X cos  . The operation of the vicinal data access section 22 will now be explained. An example of a preferable method for accessing vicinal data by the vicinal data access section 22 is as follows: (a) Vicinal data pertinent in light of the machining area concerned are called up from among the group of files related to the same kind of electrode material and workpiece material. By vicinal data pertinent in light of the machining area concerned is meant the two files (sets of data) in the file group which have machining area values nearest to the machining area value concerned. The nearest machining area values obtained in this manner are referred to as the vicinal machining area values. (b) Vicinal data pertinent in light of the machining depth concerned are retrieved from the two files called up in (a). By vicinal data pertinent in light of machining depth concerned is meant the two machining depth values contained in the two files which are nearest to the machining depth value concerned. The nearest machining depth values obtained in this manner are referred to as the vicinal machining depth values. (c) For each machining depth value retrieved in (b), the vicinal IP values corresponding to the two minimum side surface undersizes nearest the electrode undersize concerned are retrieved. The minimum side surface undersize values corresponding to the retrieved vicinal IP values are the vicinal minimum side surface undersize values. (d) In accordance with the foregoing procedure, the data required for learning operations are secured by obtaining at least two sets of vicinal data each consisting of a vicinal machining area value, a vicinal machining depth value, a vicinal minimum side surface undersize value and a vicinal IP value. The table below shows an example in which the predefined machining data were electrode : copper workpiece : iron alloy machining area : 70 mm 2 machining depth : 15 mm and the foregoing procedure was used to obtain eight sets of vicinal data by selecting four sets from each of the files shown in Figures 3 and 4. Vicinal machining area value Vicinal machining depth value Vicinal minimum side surface undersize Vicinal IPvalue 50 10 480 20 50 20 590 20 50 10 420 15 50 20 510 15 100 10 500 20 100 20 570 20 100 10 400 15 100 20 480 15 Since a minimum of two sets of vicinal data suffices for the learning operations, however, it is possible to select two sets of vicinal data from the eight sets or to select a desired two sets of data as the vicinal data from among the machining condition files relating to a copper electrode and an iron alloy workpiece. The machining conditions inference section 25 is a learning and inference section constituted of a neural network. Figures 5 to 10 show the inputs and outputs during learning and inference operations. In the flow chart of Figure 2A to 2F discussed later, steps S14 and S15 correspond to Figures 5 and 6, steps S18 and S19 to Figures 7 and 8, and steps S22 and S23 to Figures 9 and 10. The temporary memory 26 is for temporarily storing data while the machining conditions inference section 25 is learning the vicinal data or conducting inference. The roughing conditions inference section 20 is constituted as a microcomputer which operates and conducts processing in accordance with the flow chart of Figures 2A to 2F. The roughing conditions learning and inference control section 21 controls the machining conditions inference section 25 for conducting, in a prescribed order, the operations of calling up vicinal data from the temporary memory 26 and learning the same, deriving desired inference values from the actual input values, and transferring the data representing the inference results through the temporary memory 26 to a machining conditions switching section 30. The machining conditions switching section 30 receives data OD from the temporary memory 26 of the roughing conditions inference section 20. The data OD represent the machining conditions and the machining depth and consist of the inference results obtained from the machining conditions inference section 25. The machining conditions switching section 30 also receives a machining depth signal DS indicating the actual machining depth at each moment from a position detector 31. In response to the data OD and the machining depth signal DS, the machining conditions switching section 30 sends an electric discharge machining unit (not shown) a signal PC for switching to the electric discharge machining conditions for, in accordance with the data OD, conducting electric discharge machining under roughing conditions matched to the machining depth at each moment. (Since arrangements for automatically switching machining conditions from moment to moment as the machining progresses are well known in the art, none is specifically described or illustrated in this specification.) The data OD consisting of the machining conditions and machining depth obtained as the inference results in the machining conditions inference section 25 and stored in the temporary memory 26 can, if desired, be displayed as they are on an appropriate display device. It is also possible to write a machining program based on the data OD. Specifically, instead of controlling the electric discharge machine unit directly in accordance with the data OD, it is possible to prepare a machining program using the data OD representing the relationship between the machining conditions and the machining depth before starting the machining and then to operate the electric discharge machining unit according to the program during machining. The operation of the roughing conditions inference section 20 will now be explained with reference to Figures 2A to 2F. In step S10, the input data ID from the input section 10 are sent to the roughing conditions learning and inference control section 21. Next, in step S11, the roughing conditions learning and inference control section 21 determines whether or not the electrode has a gradient. If the result is affirmative, the electrode undersize data is corrected in step S11a and the corrected electrode undersize is used in the steps that follow. In step S12, two data files pertinent in light of machining area are retrieved from the group of files with matching electrode and workpiece materials (vicinal data access section 22). In step S13, vicinal data consisting of a vicinal machining area value, a vicinal electrode undersize value, a vicinal machining depth value and a vicinal maximum machining current (vicinal IP) value are retrieved from the data files called up in the step S12 (vicinal data access section 22). The method for selecting the vicinal data was explained in detail earlier. In step S14, the retrieved vicinal data are used in the learning operation for forming the neural network illustrated in Figure 5 and each relationship is defined as a function (machining conditions inference section 25). In step S15, the neural network according to the learning results obtained in the step S14 is used as shown in Figure 6 for inferring the IP value of the final roughing conditions at the time the desired machining depth is reached from the input machining area, electrode undersize (corrected value) and machining depth (machining conditions inference section 25). However, the IP value obtained in this manner is not generally an integral value and cannot be used to set the maximum machining current in the electric discharge machining unit. As the IP value IP(1) used in the final stage of the roughing, therefore, the one among those usable for setting the maximum current in the electric discharge machining unit which is closest to, but not larger than, the inferred IP value is selected. The IP value IP(1) determined in this manner is denoted as α herein. In step S16, IP(1) (the IP value used in the final step) is stored in memory as α. In step S17, the data files called up in step S12 are examined and the IP value of the one whose IP value is closer to the IP value α determined in the foregoing manner is retrieved, whereafter data in the vicinity of the input electrode undersize and machining depth are retrieved from the basic machining data corresponding to the retrieved vicinal IP value (roughing conditions learning and inference control section 21). Similarly to what was explained earlier with reference to the step S13, at least two sets of vicinal data are obtained in this manner since a minimum of two sets is required for the learning operation in Figure 7. The vicinal data of each set consists of a vicinal machining area value, a vicinal α value, a vicinal machining depth value and a minimum side surface undersize value corresponding to these values. In step S18, the vicinal data obtained in the step S17 is used similarly as in Figure 5 to conduct the learning operation for forming the neural network shown in Figure 7 (machining conditions inference section 25). In step S19, IP value α and the machining area and depth indicated in the predefined machining parameters are used as inference input data to conduct the inference according to Figure 8 for inferring the minimum side surface undersize β when machining is conducted at the IP value α actually set in the electric discharge machining unit. In step S20, the IP value to be used in the penultimate roughing step (n = 2) immediately preceding the final step (n = 1), namely IP(2), is set to α + 1 in the same manner as in step 13 (roughing conditions learning and inference control section 21). In step S21, electrode undersize data and machining depth data in the vicinity of the minimum side surface undersize β are retrieved from the set of vicinal data in the vicinity of IP value α + 1 (vicinal data retrieval access section 22). In step S22, at least two sets of the vicinal data obtained in the step S21 each consisting of a vicinal machining area value, a vicinal IP value, a vicinal minimum side surface undersize value and the vicinal machining depth value are used for the learning operation shown in Figure 9. As a result, each relationship is defined as a function and the neural network for use in inference is formed. In step S23, the results of the learning obtained in the step S22 is used in the manner of Figure 10 for inferring the machining depth to which machining is possible under the machining conditions when the IP value is set to α + 1. The IP value α + 1 and the machining depth inferred at this time are stored in memory as the conditions one stage before the final conditions (machining conditions inference section 25). In step 24, a check is made to determine whether the machining depth γ obtained as this time is greater than 0. If it is, the same procedure is repeated from step S20 after increasing IP by 1 to α + 2. The learning and inference processing is conducted in the same manner as in the case of α + 1. The IP value α + 2 and the machining depth inferred at this time are stored in memory as the conditions two stages before the final conditions. The learning and inference processing shown in Figures 9 and 10 respectively is similarly repeated for determining the machining depths corresponding to IP values of α + 3, α + 4, · · · until the machining depth becomes zero or less. The data sets consisting of the IP values and corresponding machining depth values obtained in this manner are stored in memory as the conditions three stages, four stages, · · · before the final conditions. When the depth inferred in this manner becomes equal to or less than 0, the IP values and the corresponding machining depths obtained for the stages up to that point are sent to the machining conditions switching section 30 (roughing conditions learning and inference control section 21). As described in the foregoing, in accordance with the present invention the machining conditions which enable the electric discharge machining equipment to utilize its full capacity in conducting the electric discharge machining of the workpiece are inferred and learned and the machining is automatically conducted according to the inferred machining conditions. As a result, the invention achieves a dramatic improvement in the efficiency of electric discharge machining by shortening the machining time, particularly the roughing time, thus overcoming one of the main shortcomings of this type of machining.

Claims: A method of determining electric discharge machining conditions in a machining gap formed between an electrode and a workpiece on the basis of a set of predefined machining parameters including machining depth and electrode undersize, characterized by: setting a set of predefined machining parameters including machining depth and electrode undersize (S10); storing a data file including multiple sets of basic machining data indicative of relationships among electric discharge machining current value, machining depth and electrode undersize (S10); selecting at least two sets of basic machining data from among the multiple sets thereof, said at least two sets of basic machining data including data corresponding to or adjacent to the set values of machining depth and electrode undersize (S12); inferring an electric discharge machining current value on the basis of said at least two sets of basic machining data (S15); and setting electric discharge machining current to the inferred value, the set electric discharge machining current value being the maximum permissible to be supplied to the machining gap when machining with an electrode having the set electrode undersize at the set machining depth (S25). The method according to Claim 1, wherein said inferring step comprises: a first step of training a first neural network by presenting it with said at least two sets of basic machining data indicative of machining depth and electrode undersize as input data and said at least two sets of machining data indicative of electric discharge machining current value as associated training data (S14); and a first step of presenting the trained first neural network with the set of predefined machining parameters including machining depth and electrode undersize to produce output data indicative of an electric discharge machining current value (S15). The method according to Claim 1, further comprising: selecting second at least two sets of basic machining data from among the multiple sets thereof, said at least two sets of basic machining data including data corresponding to or adjacent to the set value of electrode undersize and a second value of electric discharge machining current which is larger than the set value thereof (S17); inferring a second value of machining depth on the basis of the second at least two sets of basic machining data, the second value of electric discharge machining current being the maximum permissible to be supplied to the machining gap when machining with an electrode having the set electrode undersize at the second value of machining depth (S19); and setting electric discharge machining current to the second value, the second set value being the maximum permissible to be supplied to the machining gap when machining with an electrode having the set electrode undersize at said second value of machining depth. The method according to Claim 3, wherein said step of inferring a second value comprises: a second step of training a second neural network by presenting it with the second at least two sets of basic machining data indicative of electrode undersize and electric discharge machining current value as input data and said at least two sets of machining data indicative of machining depth as associated training data (S22); and a second step of presenting the trained second neural network with the set values of machining depth and electrode undersize and said second value of electric discharge machining current to produce output data indicative of machining depth (S23). An electric discharge machining controller for controlling electric discharge machining conditions in a machining gap formed between an electrode and a workpiece on the basis of a set of predefined machining parameters including machining depth and electrode undersize, characterized by: means (10) for setting a set of predefined machining parameters including machining depth and electrode undersize; means (23) for storing a data file including multiple sets of basic machining data indicative of relationships among electric discharge machining current value, machining depth and electrode undersize; selecting means (21) for selecting at least two sets of basic machining data from among the multiple sets thereof, said at least two sets of basic machining data including data corresponding to or to adjacent to the set values of machining depth and electrode undersize; and inferring means for inferring electric discharge machining current value on the basis of said at least two sets of basic machining data (25).

Inventors: AKEMURA OSAMU, AKEMURA, OSAMU, AKEMURA, OSAMU, C/O SEMA SODICK CO., LTD.
Applicants: SODICK CO LTD, SODICK COMPANY, LTD.
Application year: 1994
Main classification: B23H7
IPC codes: B23H7, G05B19, B23H1